In this paper, we consider the problem of threedimensional Terrain Following/Terrain Avoidance for an aircraft. Both dynamic and kinematic equations of flight are taken into account. This problem is formulated as an optimal control problem. Direct transcription method is then used to find the solution of the optimal control problem. The constraints of the flight are taken into account as complete as possible. We apply the method to a model of F − 16 in a simulation example to validate the effectiveness of the approach.

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In this paper, we consider the problem of ILC when it deals with systems with piecewise linear nonlinearities. Most of actuators have nonlinear characteristics such as hysteresis, backlash, dead-zone or piecewise linear nonlinearities. These nonlinearities make controller design difficult, specifically when their parameters are not known. Iterative learning control, (ILC), uses an iterative algorithm to track a fixed reference output signal in a specific period of time. We use the results of iterative learning control design based on 2D system theory and nonlinearity inverse method to compensate the effect of the actuator nonlinearity.I. Khademi was with the Department of electrical Engineering, Amirkabir University of Technology, Tehran,424, Iran. He is now with the